//
// Created by buenos on 2021/3/6.
//

#ifndef INDOOR_SLAM_TRACKER_H
#define INDOOR_SLAM_TRACKER_H

#include<opencv2/opencv.hpp>
#include<opencv2/core/core.hpp>
#include <vector>
#include<cv_bridge/cv_bridge.h>

using namespace std;
class Tracker{
public:
    cv::Mat prevImage, curIamge;
    cv::Mat prevDepth, curDepth;
    vector<cv::Point2f> prevPts, curPts;
    double  prevTime,  curTime;
    cv_bridge::CvImage outMsg;

public:
    void readImage(const cv::Mat &img_, const cv::Mat &depth_, double curTime_);
    void genOutputImage(const cv_bridge::CvImageConstPtr &imagePtr);
};


#endif //INDOOR_SLAM_TRACKER_H
